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   &#160;<span id="projectnumber">2.9.1</span>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-types">Protected Types</a> &#124;
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<a href="classArActionGoto-members.html">List of all members</a>  </div>
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<div class="title">ArActionGoto Class Reference<div class="ingroups"><a class="el" href="group__ActionClasses.html">Predefined ArAction Classes</a></div></div>  </div>
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<p>This action goes to a given <a class="el" href="classArPose.html" title="Represents an x, y position with an orientation. ">ArPose</a> very naively.  
 <a href="classArActionGoto.html#details">More...</a></p>

<p><code>#include &lt;ArActionGoto.h&gt;</code></p>

<p>Inherits <a class="el" href="classArAction.html">ArAction</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a1038c18b5fc4896cc0bb06620cab36d8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1038c18b5fc4896cc0bb06620cab36d8"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>ArActionGoto</b> (const char *name=&quot;goto&quot;, ArPose goal=<a class="el" href="classArPose.html">ArPose</a>(0.0, 0.0, 0.0), double closeDist=100, double speed=400, double speedToTurnAt=150, double turnAmount=7)</td></tr>
<tr class="separator:a1038c18b5fc4896cc0bb06620cab36d8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad45b33599e54febc0747cf1bc297d13f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#ad45b33599e54febc0747cf1bc297d13f">cancelGoal</a> (void)</td></tr>
<tr class="memdesc:ad45b33599e54febc0747cf1bc297d13f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Cancels the goal; this action will stop requesting movement.  <a href="#ad45b33599e54febc0747cf1bc297d13f">More...</a><br /></td></tr>
<tr class="separator:ad45b33599e54febc0747cf1bc297d13f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a837a2f07dac56e996bca506e0b9bfe5c"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a837a2f07dac56e996bca506e0b9bfe5c">fire</a> (<a class="el" href="classArActionDesired.html">ArActionDesired</a> currentDesired)</td></tr>
<tr class="memdesc:a837a2f07dac56e996bca506e0b9bfe5c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Called by the action resover; request movement towards goal if we have one.  <a href="#a837a2f07dac56e996bca506e0b9bfe5c">More...</a><br /></td></tr>
<tr class="separator:a837a2f07dac56e996bca506e0b9bfe5c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada4d595bdc5098cdf0f05dcd7cbcd75e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ada4d595bdc5098cdf0f05dcd7cbcd75e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#ada4d595bdc5098cdf0f05dcd7cbcd75e">getCloseDist</a> (void)</td></tr>
<tr class="memdesc:ada4d595bdc5098cdf0f05dcd7cbcd75e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the distance which is close enough to the goal (mm) <br /></td></tr>
<tr class="separator:ada4d595bdc5098cdf0f05dcd7cbcd75e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82225f8a145636eee8541e36cba8d72b"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a82225f8a145636eee8541e36cba8d72b">getDesired</a> (void)</td></tr>
<tr class="memdesc:a82225f8a145636eee8541e36cba8d72b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Used by the action resolvel; return current desired action.  <a href="#a82225f8a145636eee8541e36cba8d72b">More...</a><br /></td></tr>
<tr class="separator:a82225f8a145636eee8541e36cba8d72b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ada70250ac5e51bec3cd988acf8794673"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ada70250ac5e51bec3cd988acf8794673"></a>
virtual const <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void) const </td></tr>
<tr class="separator:ada70250ac5e51bec3cd988acf8794673"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9e29645f95df07e0ceec4bb41a5bcd3"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa9e29645f95df07e0ceec4bb41a5bcd3"></a>
<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#aa9e29645f95df07e0ceec4bb41a5bcd3">getGoal</a> (void)</td></tr>
<tr class="memdesc:aa9e29645f95df07e0ceec4bb41a5bcd3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the goal the action has. <br /></td></tr>
<tr class="separator:aa9e29645f95df07e0ceec4bb41a5bcd3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4e693417edf04c526ac8eb66e9dbf187"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4e693417edf04c526ac8eb66e9dbf187"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a4e693417edf04c526ac8eb66e9dbf187">getSpeed</a> (void)</td></tr>
<tr class="memdesc:a4e693417edf04c526ac8eb66e9dbf187"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the speed the action will travel to the goal at (mm/sec) <br /></td></tr>
<tr class="separator:a4e693417edf04c526ac8eb66e9dbf187"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a76321cb23733d0a7f324eeb0d52c4f11"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a76321cb23733d0a7f324eeb0d52c4f11">haveAchievedGoal</a> (void)</td></tr>
<tr class="memdesc:a76321cb23733d0a7f324eeb0d52c4f11"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sees if the goal has been achieved.  <a href="#a76321cb23733d0a7f324eeb0d52c4f11">More...</a><br /></td></tr>
<tr class="separator:a76321cb23733d0a7f324eeb0d52c4f11"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e660006c6d4e02fb6b3bac03c76c81c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a2e660006c6d4e02fb6b3bac03c76c81c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a2e660006c6d4e02fb6b3bac03c76c81c">setCloseDist</a> (double closeDist)</td></tr>
<tr class="memdesc:a2e660006c6d4e02fb6b3bac03c76c81c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the distance which is close enough to the goal (mm);. <br /></td></tr>
<tr class="separator:a2e660006c6d4e02fb6b3bac03c76c81c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3f955f164e6592fa13124f39292be2b8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3f955f164e6592fa13124f39292be2b8"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#a3f955f164e6592fa13124f39292be2b8">setGoal</a> (<a class="el" href="classArPose.html">ArPose</a> goal)</td></tr>
<tr class="memdesc:a3f955f164e6592fa13124f39292be2b8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets a new goal and sets the action to go there. <br /></td></tr>
<tr class="separator:a3f955f164e6592fa13124f39292be2b8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab12b85e0c6e770b7b44fa689b4e80418"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab12b85e0c6e770b7b44fa689b4e80418"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionGoto.html#ab12b85e0c6e770b7b44fa689b4e80418">setSpeed</a> (double speed)</td></tr>
<tr class="memdesc:ab12b85e0c6e770b7b44fa689b4e80418"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the speed the action will travel to the goal at (mm/sec) <br /></td></tr>
<tr class="separator:ab12b85e0c6e770b7b44fa689b4e80418"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a758f6d649620747c5fa743d4f7a8b53e"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a758f6d649620747c5fa743d4f7a8b53e">activate</a> (void)</td></tr>
<tr class="memdesc:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Activate the action. <br /></td></tr>
<tr class="separator:a758f6d649620747c5fa743d4f7a8b53e inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4341cda2464899c839e370b514af929b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a4341cda2464899c839e370b514af929b">ArAction</a> (const char *name, const char *description=&quot;&quot;)</td></tr>
<tr class="memdesc:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeca3135308234a8224643541090bea2b"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aeca3135308234a8224643541090bea2b">deactivate</a> (void)</td></tr>
<tr class="memdesc:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deactivate the action. <br /></td></tr>
<tr class="separator:aeca3135308234a8224643541090bea2b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#adf64e5031c86d059500b93f402aa70d9">getArg</a> (int number) const </td></tr>
<tr class="memdesc:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument.  <a href="#adf64e5031c86d059500b93f402aa70d9">More...</a><br /></td></tr>
<tr class="separator:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6620d41b1e490476796696e8a70e7544"></a>
virtual <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a6620d41b1e490476796696e8a70e7544">getArg</a> (int number)</td></tr>
<tr class="memdesc:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument. <br /></td></tr>
<tr class="separator:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a19edfe254b794aa2dddb163d095905"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5a19edfe254b794aa2dddb163d095905">getDescription</a> (void) const </td></tr>
<tr class="memdesc:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the long description of the action. <br /></td></tr>
<tr class="separator:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a77fd754d342d7662090f462e27971e08"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a77fd754d342d7662090f462e27971e08">getName</a> (void) const </td></tr>
<tr class="memdesc:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the action. <br /></td></tr>
<tr class="separator:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a512f3a727095b1240f30558d32fe0f5b"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a512f3a727095b1240f30558d32fe0f5b">getNumArgs</a> (void) const </td></tr>
<tr class="memdesc:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the number of arguments this action takes. <br /></td></tr>
<tr class="separator:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae62a517795a31625bf3a2bb2ea8abac0"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ae62a517795a31625bf3a2bb2ea8abac0">getRobot</a> () const </td></tr>
<tr class="memdesc:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the robot we are controlling, which was set by <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72db278f558206fdec03cbc15ac72104"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a72db278f558206fdec03cbc15ac72104">isActive</a> (void) const </td></tr>
<tr class="memdesc:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the action is active or not. <br /></td></tr>
<tr class="separator:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5e1aaaf9de9b50f7732043a3772f53d7"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5e1aaaf9de9b50f7732043a3772f53d7">log</a> (bool verbose=true) const </td></tr>
<tr class="memdesc:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Log information about this action using <a class="el" href="classArLog.html" title="Logging utility class. ">ArLog</a>. <br /></td></tr>
<tr class="separator:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23">setRobot</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
<tr class="memdesc:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the robot this action is driving.  <a href="#a51b27da0403d43cd916cbf49ba7ddc23">More...</a><br /></td></tr>
<tr class="separator:a51b27da0403d43cd916cbf49ba7ddc23 inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05bc460d965589515a007f136a03d15a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a05bc460d965589515a007f136a03d15a">~ArAction</a> ()</td></tr>
<tr class="memdesc:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desructor. <br /></td></tr>
<tr class="separator:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected Types</h2></td></tr>
<tr class="memitem:a22bc08cac8634f61cd1890f5d3f6e7b9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a22bc08cac8634f61cd1890f5d3f6e7b9"></a>enum &#160;</td><td class="memItemRight" valign="bottom"><b>State</b> { <b>STATE_NO_GOAL</b>, 
<b>STATE_ACHIEVED_GOAL</b>, 
<b>STATE_GOING_TO_GOAL</b>
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<tr class="separator:a22bc08cac8634f61cd1890f5d3f6e7b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:af534c1b4325ef5646af0230b331219f1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af534c1b4325ef5646af0230b331219f1"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><b>myCloseDist</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myCurTurnDir</b></td></tr>
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<tr class="memitem:a16f611c9c4f9260a766147a9cef8612f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a16f611c9c4f9260a766147a9cef8612f"></a>
<a class="el" href="classArActionDesired.html">ArActionDesired</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDesired</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myDirectionToTurn</b></td></tr>
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<tr class="memitem:ac3b515de30e7352bbbb3a6e3cf28172b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac3b515de30e7352bbbb3a6e3cf28172b"></a>
<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myGoal</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myOldGoal</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myPrinting</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySpeed</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySpeedToTurnAt</b></td></tr>
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State&#160;</td><td class="memItemRight" valign="bottom"><b>myState</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myTurnAmount</b></td></tr>
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<tr class="memitem:a36903bd87daefe7957fb65ffa31cffb6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a36903bd87daefe7957fb65ffa31cffb6"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myTurnedBack</b></td></tr>
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<tr class="inherit_header pro_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70d443457e6f0b80b434530c7d987b3f"></a>
std::map&lt; int, <a class="el" href="classArArg.html">ArArg</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myArgumentMap</b></td></tr>
<tr class="separator:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3ca1ce8c5a89ee6f0c4ee79d2f534984 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3ca1ce8c5a89ee6f0c4ee79d2f534984"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myDescription</b></td></tr>
<tr class="separator:a3ca1ce8c5a89ee6f0c4ee79d2f534984 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af20f687ef5e108741edc2a5848700271 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af20f687ef5e108741edc2a5848700271"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myIsActive</b></td></tr>
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<tr class="memitem:ad0ebdaed2cabe36c51e9b995406fdb1d inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad0ebdaed2cabe36c51e9b995406fdb1d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myName</b></td></tr>
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<tr class="memitem:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a20f29d8774f45e3508211c39e2afb9ce"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><b>myNumArgs</b></td></tr>
<tr class="separator:a20f29d8774f45e3508211c39e2afb9ce inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a265851e04729e51a2a72d1ab4f1c5ed8"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a265851e04729e51a2a72d1ab4f1c5ed8">myRobot</a></td></tr>
<tr class="memdesc:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">The robot we are controlling, set by the action resolver using <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
<tr class="separator:a265851e04729e51a2a72d1ab4f1c5ed8 inherit pro_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aceff6f8ad785ab52a79c6d847ed0ea61"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aceff6f8ad785ab52a79c6d847ed0ea61">getDefaultActivationState</a> (void)</td></tr>
<tr class="memdesc:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the default activation state for all ArActions. <br /></td></tr>
<tr class="separator:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3543892f92fbbfa9bb3f9e0b0d199f51"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a3543892f92fbbfa9bb3f9e0b0d199f51">setDefaultActivationState</a> (bool defaultActivationState)</td></tr>
<tr class="memdesc:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default activation state for all ArActions. <br /></td></tr>
<tr class="separator:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6e1c757a5232752a9b05b18e8ef5091"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ad6e1c757a5232752a9b05b18e8ef5091">setNextArgument</a> (<a class="el" href="classArArg.html">ArArg</a> const &amp;arg)</td></tr>
<tr class="memdesc:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the argument type for the next argument (must only be used in a constructor!) <br /></td></tr>
<tr class="separator:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_static_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5335a29c1c08e3fa97228635b38986fe"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><b>ourDefaultActivationState</b> = true</td></tr>
<tr class="separator:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>This action goes to a given <a class="el" href="classArPose.html" title="Represents an x, y position with an orientation. ">ArPose</a> very naively. </p>
<p>This action naively drives straight towards a given <a class="el" href="classArPose.html" title="Represents an x, y position with an orientation. ">ArPose</a>. the action stops when it gets to be a certain distance (closeDist) from the goal pose. It travels at the given speed (mm/sec).</p>
<p>You can give it a new goal with <a class="el" href="classArActionGoto.html#a3f955f164e6592fa13124f39292be2b8" title="Sets a new goal and sets the action to go there. ">setGoal()</a>, clear the current goal with <a class="el" href="classArActionGoto.html#ad45b33599e54febc0747cf1bc297d13f" title="Cancels the goal; this action will stop requesting movement. ">cancelGoal()</a>, and see if it got there with <a class="el" href="classArActionGoto.html#a76321cb23733d0a7f324eeb0d52c4f11" title="Sees if the goal has been achieved. ">haveAchievedGoal()</a>. Once the goal is reached, this action stops requesting any action.</p>
<p>This doesn't avoid obstacles or anything, you could have an avoid routine at a higher priority to avoid on the way there... but for real and intelligent looking navigation you should use something like ARNL, or build on these actions. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gotoActionExample_8cpp-example.html#_a24">gotoActionExample.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="ad45b33599e54febc0747cf1bc297d13f"></a>
<div class="memitem">
<div class="memproto">
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          <td class="memname">void ArActionGoto::cancelGoal </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<p>Cancels the goal; this action will stop requesting movement. </p>
<p>However, any currently requested motion (either previously requested by this action or by another action) will continue to be used. Use an <a class="el" href="classArActionStop.html" title="Action for stopping the robot. ">ArActionStop</a> action (activate it, or set it at a lower priority) to stop the robot. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gotoActionExample_8cpp-example.html#a40">gotoActionExample.cpp</a>.</dd>
</dl>
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</div>
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classArActionDesired.html">ArActionDesired</a> * ArActionGoto::fire </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArActionDesired.html">ArActionDesired</a>&#160;</td>
          <td class="paramname"><em>currentDesired</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">virtual</span></span>  </td>
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<p>Called by the action resover; request movement towards goal if we have one. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">currentDesired</td><td>Current desired action from the resolver </td></tr>
  </table>
  </dd>
</dl>

<p>Implements <a class="el" href="classArAction.html#a900675ede8563489ccc2e7e0934670bb">ArAction</a>.</p>

</div>
</div>
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          <td class="memname">virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a>* ArActionGoto::getDesired </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Used by the action resolvel; return current desired action. </p>

<p>Reimplemented from <a class="el" href="classArAction.html#a384dabb573f3aa461def4691e7b24bd3">ArAction</a>.</p>

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</div>
<a class="anchor" id="a76321cb23733d0a7f324eeb0d52c4f11"></a>
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          <td class="memname">bool ArActionGoto::haveAchievedGoal </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
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<p>Sees if the goal has been achieved. </p>
<p>The goal is achieved when the robot's repordet position is within a certain distance (given in the constructor or in setCloseDist) from the goal pose. </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="gotoActionExample_8cpp-example.html#a33">gotoActionExample.cpp</a>.</dd>
</dl>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArActionGoto.h</li>
<li>ArActionGoto.cpp</li>
</ul>
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